The classic fibre tip pen. I remember using them in 1977, when I was 5. We still use them today – it’s my daughter’s pen of choice. In production, unchanged, since the 1960s.
Here’s an interesting anecdote culled from a Pentel press release :
Pentel of America has a long-standing relationship with American history, so their endorsement of National Handwriting Day is a synergistic fit. In the early 1960’s, the press secretary to Lyndon B. Johnson attended a stationary [sic] show and obtained a sample of the Pentel Sign pen. President Johnson borrowed the pen, loved the smooth writing performance, and ordered 24 dozen to call his own. The Pentel Sign pen became the President’s pen of choice used to sign documents and write important notes and letters.
It is good to know that an unmoving [stationary] show about stationery can lead to such interesting connections.
To experience true tactile feedback, not the kind you feel when you press keys on a keyboard, use a good sketchbook  with a SignPen. This classic example of good, solid modern design is available at art supply and office supply stores for the princely sum of $1.49. If it was good enough for the leader of the free world, it’s good enough for you.
For more on pens, inks, notebooks and related matters, please visit these posts : tools of the trade.